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<div class="title">shot_omp.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SHOT_OMP_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SHOT_OMP_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/shot.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::SHOT352, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html">   70</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html">SHOTEstimationOMP</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SHOTEstimationOMP&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SHOTEstimationOMP&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::fake_surface_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::frames_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::lrf_radius_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::descLength_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_grid_sector_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_shape_bins_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::sqradius_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius3_4_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_4_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_2_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a636b62feed8529d669db67c96d50ffa4">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a636b62feed8529d669db67c96d50ffa4">SHOTEstimationOMP</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) : <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt; (), <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a10392431ffb1cbf447c59141fa00d22c">threads_</a> (nr_threads)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      { };</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a2d5462f1cfad275e19fe64e1f0af6f73">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a2d5462f1cfad275e19fe64e1f0af6f73">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a10392431ffb1cbf447c59141fa00d22c">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a0513fdc113b6c5612cb23b15a6af0a51">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a198a1973ceda4859f9acb3f7e9cc6866">initCompute</a> ();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a10392431ffb1cbf447c59141fa00d22c">  122</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a10392431ffb1cbf447c59141fa00d22c">threads_</a>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  };</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::SHOT1344, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html">  146</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html">SHOTColorEstimationOMP</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SHOTColorEstimationOMP&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SHOTColorEstimationOMP&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::fake_surface_</a>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::frames_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::lrf_radius_</a>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::descLength_</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_grid_sector_</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_shape_bins_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::sqradius_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius3_4_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_4_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_2_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::b_describe_shape_</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::b_describe_color_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_color_bins_</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a689b4235c5b9932257432ceb529d819d">  178</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a689b4235c5b9932257432ceb529d819d">SHOTColorEstimationOMP</a> (<span class="keywordtype">bool</span> describe_shape = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                              <span class="keywordtype">bool</span> describe_color = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                              <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        : <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt; (describe_shape, describe_color), <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a655f7563fc686caee1b97c8c76a674bf">threads_</a> (nr_threads)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a293d3f3e071360c23af0e528edb926ab">  189</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a293d3f3e071360c23af0e528edb926ab">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a655f7563fc686caee1b97c8c76a674bf">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#ae99a7fee7fb43916a699a06d878f3814">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a8463a16a9b463ca6f8b771062ad209e8">initCompute</a> ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a655f7563fc686caee1b97c8c76a674bf">  206</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a655f7563fc686caee1b97c8c76a674bf">threads_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  };</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;}</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/shot_omp.hpp&gt;</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SHOT_OMP_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a></div><div class="ttdoc">FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...</div><div class="ttdef"><b>Definition:</b> feature.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html">pcl::SHOTColorEstimation</a></div><div class="ttdoc">SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a giv...</div><div class="ttdef"><b>Definition:</b> shot.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_o_m_p_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html">pcl::SHOTColorEstimationOMP</a></div><div class="ttdoc">SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a ...</div><div class="ttdef"><b>Definition:</b> shot_omp.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_o_m_p_html_a293d3f3e071360c23af0e528edb926ab"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a293d3f3e071360c23af0e528edb926ab">pcl::SHOTColorEstimationOMP::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> shot_omp.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_o_m_p_html_a655f7563fc686caee1b97c8c76a674bf"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a655f7563fc686caee1b97c8c76a674bf">pcl::SHOTColorEstimationOMP::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads the scheduler should use.</div><div class="ttdef"><b>Definition:</b> shot_omp.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_o_m_p_html_a689b4235c5b9932257432ceb529d819d"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a689b4235c5b9932257432ceb529d819d">pcl::SHOTColorEstimationOMP::SHOTColorEstimationOMP</a></div><div class="ttdeci">SHOTColorEstimationOMP(bool describe_shape=true, bool describe_color=true, unsigned int nr_threads=0)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> shot_omp.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_o_m_p_html_a8463a16a9b463ca6f8b771062ad209e8"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#a8463a16a9b463ca6f8b771062ad209e8">pcl::SHOTColorEstimationOMP::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> shot_omp.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_o_m_p_html_ae99a7fee7fb43916a699a06d878f3814"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation_o_m_p.html#ae99a7fee7fb43916a699a06d878f3814">pcl::SHOTColorEstimationOMP::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...</div><div class="ttdef"><b>Definition:</b> shot_omp.hpp:194</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html">pcl::SHOTEstimationBase</a></div><div class="ttdoc">SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...</div><div class="ttdef"><b>Definition:</b> shot.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html">pcl::SHOTEstimation</a></div><div class="ttdoc">SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...</div><div class="ttdef"><b>Definition:</b> shot.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_o_m_p_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html">pcl::SHOTEstimationOMP</a></div><div class="ttdoc">SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given...</div><div class="ttdef"><b>Definition:</b> shot_omp.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_o_m_p_html_a0513fdc113b6c5612cb23b15a6af0a51"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a0513fdc113b6c5612cb23b15a6af0a51">pcl::SHOTEstimationOMP::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...</div><div class="ttdef"><b>Definition:</b> shot_omp.hpp:124</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_o_m_p_html_a10392431ffb1cbf447c59141fa00d22c"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a10392431ffb1cbf447c59141fa00d22c">pcl::SHOTEstimationOMP::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads the scheduler should use.</div><div class="ttdef"><b>Definition:</b> shot_omp.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_o_m_p_html_a198a1973ceda4859f9acb3f7e9cc6866"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a198a1973ceda4859f9acb3f7e9cc6866">pcl::SHOTEstimationOMP::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> shot_omp.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_o_m_p_html_a2d5462f1cfad275e19fe64e1f0af6f73"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a2d5462f1cfad275e19fe64e1f0af6f73">pcl::SHOTEstimationOMP::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> shot_omp.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_o_m_p_html_a636b62feed8529d669db67c96d50ffa4"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_o_m_p.html#a636b62feed8529d669db67c96d50ffa4">pcl::SHOTEstimationOMP::SHOTEstimationOMP</a></div><div class="ttdeci">SHOTEstimationOMP(unsigned int nr_threads=0)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> shot_omp.h:99</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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